EspeleoRobô -检查密闭环境的机器人设备

Héctor Azpúrua, Filipe A. S. Rocha, G. Garcia, Alexandre Souza Santos, Eduardo Cota, Luiz Guilherme Barros, Alexandre S Thiago, G. Pessin, G. Freitas
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引用次数: 15

摘要

在地下、隧道系统和洞穴网络等受限环境中工作的机器人设备目前受到研究和工业界的特别关注。巴西矿业公司淡水河谷(Vale s.a.)就是一个例子,该公司正在使用机器人Espeleolcobô进入限制区域。该机器人最初的设计目的是在远程操作任务中检查天然洞穴,现在被用于监测水坝和其他受限或危险的环境。本文描述了针对自主机器人操作的运动机制和机动性分析、定位和路径规划策略的最新进展。仿真和现场实验的初步结果验证了机器人装置的概念。还介绍了从工业场景的多次现场测试中吸取的经验教训。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
EspeleoRobô - a robotic device to inspect confined environments
Robotic devices operating in confined environments such as underground, tunnel systems, and cave networks are currently receiving particular attention from research and industry. One example is the Brazilian mining company Vale S.A., which is employing a robot - Espeleolcobô - to access restricted areas. The robot was designed initially to inspect natural caves during teleoperated missions and is now being used to monitor dam galleries and other confined or dangerous environments. This paper describes recent developments regarding locomotion mechanisms and mobility analyses, localization, and path planning strategies aiming autonomous robot operation. Preliminary results from simulation and field experiments validate the robotic device concept. Lessons learned from multiple field tests in industrial scenarios are also described.
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